A self-detection method for elastic decay of elastic body in six-dimensional force sensor

Abstract

The present invention discloses a self-detection method for elastic decay of an elastomer of a six-dimensional force sensor, comprising: placing the six-dimensional force sensor to be detected longitudinally on the inner ring of a detection ring so that the circular side of the six-dimensional force sensor contacts the inner ring; controlling the rotation of the detection ring to make the six-dimensional force sensor repeatedly roll to the lowest point of the inner ring, and then adjusting the contact point between the six-dimensional force sensor and the inner ring, and collecting the force data of the six-dimensional force sensor in the X-axis and Y-axis directions in real time; obtaining the first force data with the largest value on the X-axis and the second force data with the largest value on the Y-axis respectively; judging whether the first force data with the largest value matches the standard self-gravity of the X-axis, and if so, judging that the elastic body corresponding to the X-axis has no elastic decay; if not, judging that the elastic body corresponding to the X-axis has elastic decay; and the same for the Y-axis. The present invention performs self-detection on the elastic decay of the elastomer, and can timely discover and remedy the elastic decay of the elastomer, thereby ensuring the accuracy of subsequent measurements.

Description

Technical Field

[0001] The present invention relates to the field of six-dimensional force sensors, and in particular to a six-dimensional force sensor elastic body elastic decay self-detection method. Background Art

[0002] A multi-dimensional force sensor is a force sensor that can simultaneously measure force and torque components in more than two directions. In a Cartesian coordinate system, force and torque can each be decomposed into three components. Therefore, the most complete form of multi-dimensional force is a six-dimensional force / torque sensor, that is, a sensor that can simultaneously measure three force components and three torque components. This is the most widely used multi-dimensional force sensor. Because six-dimensional force sensors can simultaneously detect three-dimensional forces and three-dimensional torques in space, they can serve as basic components for precision assembly, precision operation, precision control, and human-machine interaction. At the same time, six-dimensional force sensors also ensure that robots can complete contact operations. For example, space exploration technology, space manipulator force control, industrial robots, and remote control of underwater robots all require large-scale, high-precision six-dimensional force sensors.

[0003] Six-axis force sensors are prone to measurement errors over long periods of use. This is primarily due to the aging of the elastomer material over time, which causes changes in the elastomer's stiffness. This instability in elastic stiffness affects the elastomer's deformation under the same external force, which in turn affects the strain gauge's output signal and the sensor's measurement accuracy. This condition is generally referred to as elastic degradation. Promptly detecting and addressing elastic degradation in six-axis force sensors can extend their service life. However, existing technologies rarely provide effective detection and compensation for elastic degradation. Summary of the Invention

[0004] In view of some of the above-mentioned defects of the prior art, the technical problem to be solved by the present invention is to provide a self-detection method for elastic degradation of the elastomer of a six-dimensional force sensor, which aims to perform self-detection of elastic degradation of the elastomer, so as to timely discover and remedy the elastic degradation of the elastomer, and ensure the accuracy of subsequent measurements.

[0005] To achieve the above object, the present invention provides a six-dimensional force sensor elastic body elastic decay self-detection method, the method comprising:

[0006] Step S1: Obtain a six-dimensional force sensor to be tested, and longitudinally place the six-dimensional force sensor on the inner ring of a detection ring so that the circular side surface of the six-dimensional force sensor contacts the inner ring of the detection ring; wherein the plane on which the detection ring is placed is parallel to the ground, and when the six-dimensional force sensor is placed on the inner ring, the plane on which the X-axis and Y-axis dimensions measured by the six-dimensional force sensor lie is perpendicular to the ground;

[0007] Step S2: Controlling the detection ring to rotate so that the six-axis force sensor repeatedly rolls to the lowest point of the inner ring, thereby adjusting the contact point between the six-axis force sensor and the inner ring; during the rotation of the detection ring, collecting force data of the six-axis force sensor in the X-axis and Y-axis directions in real time;

[0008] Step S3: In response to the first force data of the six-axis force sensor on the X-axis reaching a maximum and the second force data on the Y-axis reaching a minimum, determining that the Y-axis of the six-axis force sensor is perpendicular to the ground and obtaining the maximum first force data; in response to the second force data of the six-axis force sensor on the Y-axis reaching a maximum and the first force data on the X-axis reaching a minimum, determining that the X-axis of the six-axis force sensor is perpendicular to the ground and obtaining the maximum second force data;

[0009] Step S4: Determine whether the maximum first force data matches the standard self-weight of the X-axis. If so, determine that the elastic body corresponding to the X-axis has no elastic decay; if not, determine that the elastic body corresponding to the X-axis has elastic decay; determine whether the maximum second force data matches the standard self-weight of the Y-axis. If so, determine that the elastic body corresponding to the Y-axis has no elastic decay; if not, determine that the elastic body corresponding to the Y-axis has elastic decay.

[0010] Optionally, after step S4, the method further includes:

[0011] In response to elastic decay of the elastic body corresponding to the X-axis in the six-axis force sensor, the six-axis force sensor is placed horizontally so that the planes containing the X-axis and Y-axis dimensions are parallel to the ground, and the current first force data on the X-axis is reset to zero; the six-axis force sensor is placed vertically so that the X-axis is parallel to the ground, and the current first force data is reset to the standard self-gravity of the X-axis;

[0012] In response to elastic decay of the elastic body corresponding to the Y-axis in the six-axis force sensor, the six-axis force sensor is placed horizontally so that the plane containing the X-axis and Y-axis dimensions is parallel to the ground, and the current second force data on the Y-axis is set to zero; the six-axis force sensor is placed vertically with the Y-axis parallel to the ground, and the current second force data is reset to the standard self-gravity of the Y-axis.

[0013] Optionally, a rubber band is laid on the inner ring of the detection ring, and the rubber band is used to increase the friction between the inner ring and the circular side surface of the six-dimensional force sensor.

[0014] Optionally, before step S1, the method further includes:

[0015] An elastic decay self-detection period corresponding to the six-dimensional force sensor is set; in response to the assembly time of the six-dimensional force sensor reaching the elastic decay self-detection period, it is determined that the six-dimensional force sensor needs to perform elastic decay self-detection.

[0016] Optionally, the six-dimensional force sensor uses a wireless communication module for data transmission, and the first force data and the second force data are transmitted to a background server through the wireless communication module.

[0017] Optionally, a limiting slide is provided on the inner ring of the detection ring, and the limiting slide is used to prevent the rolling six-axis force sensor from tipping over.

[0018] Optionally, in step S3, the first force data and the second force data are both absolute values.

[0019] Optionally, the ambient temperature of the self-test process corresponding to step S1 to step S4 is normal room temperature, specifically 20°C-25°C.

[0020] Optionally, in step S2, the force data comes from the effect of the weight of the six-axis force sensor on the elastic body corresponding to the X-axis and / or the Y-axis.

[0021] Optionally, the X-axis standard self-gravity is the X-axis force data of the six-axis force sensor under inelastic decay, and the Y-axis standard self-gravity is the Y-axis force data of the six-axis force sensor under inelastic decay.

[0022] The beneficial effects of the present invention are as follows: 1. The present invention is based on the principle that when the six-dimensional force sensor is placed longitudinally, its elastic body will be deformed by its own weight, thereby generating force data. Since the self-weight of the six-dimensional force sensor is fixed, the same external force (i.e., its own weight) that remains unchanged can be used to determine whether the force data of the elastic body has changed, thereby determining whether the elastic body has experienced elastic decay. In this way, the present invention can achieve self-detection of elastic decay of the elastic body without adding other measuring instruments, and can timely discover and remedy the elastic decay of the elastic body, thereby ensuring the accuracy of subsequent measurements. 2. The present invention can ensure accurate acquisition of the elastic body force data corresponding to when the X-axis is perpendicular to the ground and the elastic body force data corresponding to when the Y-axis is perpendicular to the ground through the setting of the detection ring, so as to ensure that the two can be accurately compared with the standard data, thereby determining whether elastic decay has occurred. The detection ring of the present invention, in conjunction with the detection step, effectively solves the problem of being unable to accurately obtain the force data when the X-axis and the Y-axis are perpendicular to the ground. 3. In response to elastic degradation of the elastic body corresponding to the X-axis in the six-axis force sensor, the present invention positions the six-axis force sensor horizontally so that the planes containing the X-axis and Y-axis dimensions are parallel to the ground, and resets the current first force data on the X-axis to zero. The six-axis force sensor is then positioned vertically with the X-axis parallel to the ground, and the current first force data is reset to the standard deadweight of the X-axis. The same applies to the Y-axis. The present invention can recalibrate and compensate for elastic degradation, making the six-axis force sensor measurements more accurate, thereby extending the service life of the six-axis force sensor.

[0023] In summary, the present invention can perform self-detection on elastic degradation of an elastomer, can timely discover and remedy the elastic degradation of an elastomer, and ensure the accuracy of subsequent measurements. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a flow chart of a method for self-detecting elastic decay of an elastic body of a six-dimensional force sensor provided by a specific embodiment of the present invention;

[0025] Figure 2 Schematic diagram of the deformation of an elastic body in the X-axis dimension under force of a six-axis force sensor provided by a specific embodiment of the present invention;

[0026] Figure 3 It is a structural schematic diagram of a detection ring and a six-dimensional force sensor provided in a specific embodiment of the present invention. DETAILED DESCRIPTION

[0027] The present invention discloses a self-detection method for elastic degradation of an elastomer of a six-dimensional force sensor. Those skilled in the art can refer to the content of this article and appropriately improve the technical details. It should be noted in particular that all similar replacements and modifications are obvious to those skilled in the art and are considered to be included in the present invention. The method and application of the present invention have been described through preferred embodiments. Relevant personnel can obviously modify or appropriately change and combine the methods and applications described herein without departing from the content, spirit and scope of the present invention to implement and apply the technology of the present invention.

[0028] The applicant's research has found that six-axis force sensors are likely to experience measurement errors over long periods of use. The main reason for this is that the elastomer material may age over time, causing changes in the corresponding stiffness of the elastomer. The instability of elastic stiffness affects the deformation of the elastomer under the same external force, which in turn affects the output signal of the strain gauge and the measurement accuracy of the sensor. This situation is generally referred to as elastic decay. Promptly and quickly detecting elastic decay in six-axis force sensors and taking appropriate measures to address this decay can extend the service life of the six-axis force sensor. However, existing technologies rarely provide effective detection and compensation for elastic decay in elastomers.

[0029] Therefore, the embodiment of the present invention provides a six-dimensional force sensor elastic body elastic decay self-detection method, such as Figure 1 As shown, the method includes:

[0030] Step S1: Obtain a six-dimensional force sensor to be tested, and place the six-dimensional force sensor longitudinally on the inner ring of the detection ring so that the circular side surface of the six-dimensional force sensor contacts the inner ring of the detection ring.

[0031] The plane on which the detection ring is placed is parallel to the ground. When the six-dimensional force sensor is placed on the inner ring, the plane where the X-axis and Y-axis dimensions measured by the six-dimensional force sensor are located is perpendicular to the ground.

[0032] It should be noted that the embodiment of the present invention is based on the fact that when the six-dimensional force sensor is placed vertically, its constant deadweight will cause the elastic body to deform, thereby generating force data. By comparing the force data with the standard, it is determined whether the elastic body has experienced elasticity fading.

[0033] Specifically, the elastomer structure can be as follows Figure 2 As shown, Figure 2 The middle elastic body is a cross structure corresponding to the X-axis elastic body 201 and the Y-axis elastic body 202 (the elastic body is also called an elastic beam in the industry). Figure 2 In the figure, the Y-axis is perpendicular to the ground, and the X-axis direction is deformed by the weight of the six-dimensional force sensor, and the X-axis elastic body 201 is deformed.

[0034] In this specific embodiment, the corresponding structural diagram when the six-dimensional force sensor is placed longitudinally on the detection ring is as follows: Figure 3 As shown, Figure 3 The central six-dimensional force sensor is 301, the detection ring is 302, the inner ring is 303, and the rubber band is 304. The detection ring slowly rotates, causing the six-dimensional force sensor to slowly roll to its lowest point, ultimately achieving a perpendicular relationship between the two elastic bodies and the ground. The detection ring prevents the six-dimensional force sensor from being affected by external forces that could affect its own weight data, thus preventing external factors from complicating self-testing (for example, if an external force were used to directly rotate the six-dimensional force sensor, the elastic beam would be subjected not only to its own weight but also to other external forces).

[0035] Step S2: Control the detection ring to rotate so that the six-dimensional force sensor repeatedly rolls to the lowest point of the inner ring, thereby adjusting the contact point between the six-dimensional force sensor and the inner ring; during the rotation of the detection ring, collect the force data of the six-dimensional force sensor in the X-axis and Y-axis directions in real time.

[0036] It should be noted that the detection ring's rotation causes the six-axis force sensor to rotate along with the ring's inertia, and the six-axis force sensor, under the force of gravity, will roll to the lowest point. The detection ring's rotation speed is set according to requirements and is generally very slow, perhaps as fast as one-sixtieth of a revolution per second in specific applications.

[0037] Step S3: In response to the first force data of the six-axis force sensor on the X-axis reaching a maximum and the second force data on the Y-axis reaching a minimum, determine that the Y-axis of the six-axis force sensor is perpendicular to the ground and obtain the maximum first force data; in response to the second force data of the six-axis force sensor on the Y-axis reaching a maximum and the first force data on the X-axis reaching a minimum, determine that the X-axis of the six-axis force sensor is perpendicular to the ground and obtain the maximum second force data.

[0038] It should be noted that the first and second force data are generally zero when they reach their minimum. When the Y-axis is perpendicular to the ground, the weight of the six-dimensional force sensor is essentially borne by the X-axis, and the corresponding force data reaches its maximum. When the X-axis is perpendicular to the ground, the weight of the six-dimensional force sensor is essentially borne by the Y-axis, and the corresponding force data reaches its maximum.

[0039] Step S4, determine whether the maximum first force data matches the standard self-weight of the X-axis. If so, determine that the elastic body corresponding to the X-axis has no elastic decay; if not, determine that the elastic body corresponding to the X-axis has elastic decay; determine whether the maximum second force data matches the standard self-weight of the Y-axis. If so, determine that the elastic body corresponding to the Y-axis has no elastic decay; if not, determine that the elastic body corresponding to the Y-axis has elastic decay.

[0040] In this specific embodiment, the X-axis standard self-gravity is the X-axis force data under the condition of no elastic decay of the six-dimensional force sensor, and the Y-axis standard self-gravity is the Y-axis force data under the condition of no elastic decay of the six-dimensional force sensor.

[0041] It should be noted that, because the X-axis standard self-weight and the Y-axis standard self-weight are standard data under no elastic decay, when the first force data and the second force data do not match the X-axis standard self-weight and the Y-axis standard self-weight without the influence of other interference factors, it indicates that the stiffness of the corresponding elastic body has changed and elastic decay has occurred.

[0042] In this specific embodiment, after step S4, the method further includes:

[0043] In response to elastic decay of the elastic body corresponding to the X-axis in the six-axis force sensor, the six-axis force sensor is placed horizontally so that the planes containing the X-axis and Y-axis dimensions are parallel to the ground, and the current first force data on the X-axis is reset to zero; the six-axis force sensor is placed vertically so that the X-axis is parallel to the ground, and the current first force data is reset to the standard self-weight of the X-axis;

[0044] In response to the elastic decay of the elastic body corresponding to the Y-axis in the six-axis force sensor, the six-axis force sensor is placed horizontally so that the planes containing the X-axis and Y-axis dimensions are parallel to the ground, and the current second force data on the Y-axis is set to zero; the six-axis force sensor is placed vertically with the Y-axis parallel to the ground, and the current second force data is reset to the standard self-gravity of the Y-axis.

[0045] It should be noted that when the six-axis force sensor is placed horizontally, the two elastic bodies are not affected by their own weight, and the standard force data is zero. Therefore, a zeroing operation is used. Then, the planes containing the X-axis and Y-axis dimensions are parallel to the ground. The elastic body experiencing elasticity decay is parallel to the ground, and the force data is reset to the corresponding standard self-weight. A straight line is determined between the two points, and recalibration is performed to obtain an accurate six-axis force sensor measurement function.

[0046] In this specific embodiment, Figure 3 As shown, a rubber band 304 is laid on the inner ring of the detection ring. The rubber band 304 is used to increase the friction between the inner ring 303 and the circular side surface of the six-dimensional force sensor 301.

[0047] It should be noted that increasing the friction force can achieve slow gradual adjustment and secondly, the friction force can be used to consume the kinetic energy of the six-dimensional force sensor 301 to prevent it from continuing to rise after reaching the lowest point.

[0048] In this specific embodiment, before step S1, the method further includes:

[0049] An elastic decay self-detection period corresponding to the six-dimensional force sensor is set; in response to the assembly time of the six-dimensional force sensor reaching the elastic decay self-detection period, it is determined that the six-dimensional force sensor needs to perform elastic decay self-detection.

[0050] It should be noted that regular testing can ensure that elasticity decline is discovered in a timely manner.

[0051] In this specific embodiment, the six-dimensional force sensor uses a wireless communication module for data transmission, and the first force data and the second force data are transmitted to the background server through the wireless communication module.

[0052] It should be noted that the provision of the wireless communication module avoids the need for a wire outlet, making the six-axis force sensor more symmetrical and the measurement more accurate. In this embodiment of the present invention, the influence of the wire outlet on the rolling of the six-axis force sensor can be avoided.

[0053] In this specific embodiment, a limiting slide is provided on the inner ring of the detection ring, and the limiting slide is used to prevent the rolling six-dimensional force sensor from tipping over.

[0054] In this specific embodiment, in step S3 , both the first force data and the second force data are absolute values.

[0055] In this specific embodiment, the ambient temperature of the self-test process corresponding to steps S1 to S4 is normal room temperature, specifically 20°C-25°C.

[0056] It should be noted that room temperature is used to eliminate the influence of temperature on the elastomer and strain gauge, and to eliminate other factors, so as to make the elastic decay detection more accurate.

[0057] In this specific embodiment, the force data in step S2 comes from the effect of the weight of the six-dimensional force sensor on the elastic body corresponding to the X-axis and / or the Y-axis.

[0058] The present invention is based on the principle that a six-axis force sensor, when placed longitudinally, causes deformation of an elastic body under its own weight, thereby generating force data. Furthermore, because the six-axis force sensor's own weight is fixed, a constant external force (i.e., its own weight) can be used to determine whether the elastic body's force data has changed, and thus whether the elastic body has experienced elastic degradation. This method enables self-detection of elastic degradation without the need for additional measuring instruments, enabling timely detection and remediation of elastic degradation, thereby ensuring accurate subsequent measurements.

[0059] By providing a detection ring, the embodiments of the present invention ensure accurate acquisition of elastic body force data corresponding to when the X-axis is perpendicular to the ground, and corresponding to when the Y-axis is perpendicular to the ground. This ensures that both data can be accurately compared with standard data to determine whether elasticity degradation has occurred. The detection ring of the embodiments of the present invention, combined with the detection steps, effectively solves the problem of being unable to accurately obtain force data when the X-axis and Y-axis are perpendicular to the ground.

[0060] In response to elastic degradation of the elastic body corresponding to the X-axis in the six-axis force sensor, the embodiment of the present invention positions the six-axis force sensor horizontally so that the plane containing the X-axis and Y-axis dimensions is parallel to the ground, and resets the current first force data on the X-axis to zero. The six-axis force sensor is then positioned vertically with the X-axis parallel to the ground, and the current first force data is reset to the standard self-weight on the X-axis. The same applies to the Y-axis. This embodiment of the present invention can recalibrate and compensate for elastic degradation, making the six-axis force sensor's measurements more accurate, thereby extending the six-axis force sensor's service life.

[0061] In summary, the embodiments of the present invention can perform self-detection on elastic degradation of an elastomer, can promptly discover and remedy the elastic degradation of an elastomer, and ensure the accuracy of subsequent measurements.

[0062] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0063] Each embodiment in this specification is described in a related manner. Similar parts between the various embodiments can be referred to in conjunction with each other. Each embodiment focuses on the differences between the other embodiments. In particular, the system embodiment is generally similar to the method embodiment, so the description is relatively simple. For related parts, refer to the description of the method embodiment.

[0064] The above are only preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention are included in the scope of protection of the present invention.

Claims

1. A six-dimensional force sensor elastic body elastic decay self-detection method, characterized in that: The method comprises: Step S1: Obtain a six-dimensional force sensor to be tested, and longitudinally place the six-dimensional force sensor on the inner ring of a detection ring so that the circular side surface of the six-dimensional force sensor contacts the inner ring of the detection ring; wherein the plane on which the detection ring is placed is parallel to the ground, and when the six-dimensional force sensor is placed on the inner ring, the plane on which the X-axis and Y-axis dimensions measured by the six-dimensional force sensor lie is perpendicular to the ground; Step S2: Controlling the detection ring to rotate so that the six-axis force sensor repeatedly rolls to the lowest point of the inner ring, thereby adjusting the contact point between the six-axis force sensor and the inner ring; during the rotation of the detection ring, collecting force data of the six-axis force sensor in the X-axis and Y-axis directions in real time; Step S3: In response to the first force data of the six-axis force sensor on the X-axis reaching a maximum and the second force data on the Y-axis reaching a minimum, determining that the Y-axis of the six-axis force sensor is perpendicular to the ground and obtaining the maximum first force data; in response to the second force data of the six-axis force sensor on the Y-axis reaching a maximum and the first force data on the X-axis reaching a minimum, determining that the X-axis of the six-axis force sensor is perpendicular to the ground and obtaining the maximum second force data; Step S4: Determine whether the maximum first force data matches the standard self-weight of the X-axis. If so, determine that the elastic body corresponding to the X-axis has no elastic decay; if not, determine that the elastic body corresponding to the X-axis has elastic decay; determine whether the maximum second force data matches the standard self-weight of the Y-axis. If so, determine that the elastic body corresponding to the Y-axis has no elastic decay; if not, determine that the elastic body corresponding to the Y-axis has elastic decay.

2. The six-dimensional force sensor elastic body elastic decay self-detection method according to claim 1, characterized in that: After step S4, the method further includes: In response to elastic decay of the elastic body corresponding to the X-axis in the six-axis force sensor, the six-axis force sensor is placed horizontally so that the planes containing the X-axis and Y-axis dimensions are parallel to the ground, and the current first force data on the X-axis is reset to zero; the six-axis force sensor is placed vertically so that the X-axis is parallel to the ground, and the current first force data is reset to the standard self-gravity of the X-axis; In response to elastic decay of the elastic body corresponding to the Y-axis in the six-axis force sensor, the six-axis force sensor is placed horizontally so that the plane containing the X-axis and Y-axis dimensions is parallel to the ground, and the current second force data on the Y-axis is set to zero; the six-axis force sensor is placed vertically with the Y-axis parallel to the ground, and the current second force data is reset to the standard self-gravity of the Y-axis.

3. The six-dimensional force sensor elastic body elastic decay self-detection method according to claim 1, characterized in that: A rubber band is laid on the inner ring of the detection ring, and the rubber band is used to increase the friction between the inner ring and the circular side surface of the six-dimensional force sensor.

4. The six-dimensional force sensor elastic body elastic decay self-detection method according to claim 1, characterized in that: Before step S1, the method further includes: An elastic decay self-detection period corresponding to the six-dimensional force sensor is set; in response to the assembly time of the six-dimensional force sensor reaching the elastic decay self-detection period, it is determined that the six-dimensional force sensor needs to perform elastic decay self-detection.

5. The six-dimensional force sensor elastic body elastic decay self-detection method according to claim 1, characterized in that: The six-dimensional force sensor uses a wireless communication module for data transmission, and the first force data and the second force data are transmitted to the background server through the wireless communication module.

6. The six-dimensional force sensor elastic body elastic decay self-detection method according to claim 1, characterized in that: A limiting slide is provided on the inner ring of the detection ring, and the limiting slide is used to prevent the rolling six-dimensional force sensor from tipping over.

7. The six-dimensional force sensor elastic body elastic decay self-detection method according to claim 1, characterized in that: In step S3, the first force data and the second force data are both absolute values.

8. The six-dimensional force sensor elastic body elastic decay self-detection method according to claim 1, characterized in that: The ambient temperature of the self-test process corresponding to steps S1 to S4 is 20°C-25°C.

9. The six-dimensional force sensor elastic body elastic decay self-detection method according to claim 1, characterized in that: In step S2, the force data comes from the effect of the weight of the six-axis force sensor on the elastic body corresponding to the X-axis and / or the Y-axis.

10. The six-dimensional force sensor elastic body elastic decay self-detection method according to claim 1, characterized in that: The X-axis standard self-gravity is the X-axis force data of the six-axis force sensor under the condition of no elastic decay, and the Y-axis standard self-gravity is the Y-axis force data of the six-axis force sensor under the condition of no elastic decay.

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